Influence of Dynamics and Trajectory on Integrated GPS/INS Navigation Performance

Wang, J.; Lee, H.K.; Hewitson, Steve; Lee, Hyung-Keun

doi:10.5081/jgps.2.2.109

Cited by 25 publications

(17 citation statements)

References 11 publications

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“…According to Wang et al (2003), Niu and El-Sheimy (2005), and Han and Wang (2008), both the accelerometer error and the gyro error are modeled as the hybrid of a random walk process and a white Gaussian noise,…”

Section: A Dual-rate Kalman Filter Design For Gps/ins Integrationmentioning

confidence: 99%

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Han

Wang

2011

GPS Solut

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A dual-rate Kalman Filter (DRKF) has been developed to integrate the time-differenced GPS carrier phases and the GPS pseudoranges with INS measurements. The time-differenced GPS carrier phases, which have low noise and millimeter measurement precision, are integrated with INS measurements using a Kalman Filter with high update rates to improve the performance of the integrated system. Since the time-differenced GPS carrier phases are only relative measurements, when integrated with INS, the position error of the integrated system will accumulate over time. Therefore, the GPS pseudoranges are also incorporated into the integrated system using a Kalman Filter with a low update rate to control the accumulation of system errors. Experimental tests have shown that this design, compared to a conventional design using a single Kalman Filter, reduces the coasting error by two-thirds for a medium coasting time of 30 s, and the position, velocity, and attitude errors by at least one-half for a 45-min field navigation experiment.

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Section: A Dual-rate Kalman Filter Design For Gps/ins Integrationmentioning

confidence: 99%

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Han

Wang

2011

GPS Solut

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“…One important aspect in INS fusion with external sensors is the observability of the error states, since it reflects on the ability to estimate the error state in different motion patterns. When maneuvering is applied, similar to GNSS velocity aiding [18,19], or for an AUV aided by a DVL [20], the DME is observable. Yet, in most cases, the AUV is required to operate with almost constant speed with no maneuvering.…”

Section: Introductionmentioning

confidence: 99%

Observability Analysis of Heading Aided INS for a Maneuvering AUV

Klein

Diamant

2018

J Inst Navig

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Underwater navigation of autonomous underwater vehicles (AUVs) is a challenging task that requires the fusion of multiple sensors used as aiding to the vehicle inertial navigation system. In this paper, we focus on the problem of fusing heading measurements under different maneuvering conditions. We analyze the observability of the heading measurement fusion problem and derive the observable and unobservable subspaces as a function of the AUV's maneuver. Using this analysis, we are able to predict the convergence of the error states for different maneuvers and thus identify the quality of the navigation solution at different mobility patterns. As expected, the results show that the down misalignment error and gyro z-axis bias are always observable. In addition, our results showed that for some maneuvers, the rest of the gyro biases also become observable. Our numerical simulation and sea experiments verify our analytic solutions.

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“…The initial position and velocity can be easily obtained from GPS or other aiding sensors (Lee et al 2002 ;Wang et al 2003), while the acquisition of the initial attitude is not that straightforward and requires specific initial alignment algorithms.…”

Section: Introduction An Inertial Navigation System (Ins)mentioning

confidence: 99%

A Novel Initial Alignment Scheme for Low-Cost INS Aided by GPS for Land Vehicle Applications

Han

Wang

2010

J. Navigation

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This paper proposes a novel mechanism for the initial alignment of low-cost INS aided by GPS. For low-cost INS, the initial alignment is still a challenging issue because of the high noises from low-cost inertial sensors. In this paper, a two-stage Kalman Filtering mechanism is proposed for the initial alignment of low-cost INS. The first stage is designed for the coarse alignment. To solve the problems encountered by the general coarse alignment approach, an INS error dynamic accounting for unknown initial heading error is developed, and the corresponding observation equation, taking into account the unknown heading error, is also developed. The second stage is designed for the fine alignment, where the classical INS error dynamics based on small attitude error is used. Experimental results indicate that the proposed alignment approach can complete the initial alignment more quickly and more accurately compared with the conventional approach. K E Y W O R D S 1. Low-Cost INS. 2. Initial Alignment. 3. GPS. 4. Land Vehicle.

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Influence of Dynamics and Trajectory on Integrated GPS/INS Navigation Performance

Cited by 25 publications

References 11 publications

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Observability Analysis of Heading Aided INS for a Maneuvering AUV

A Novel Initial Alignment Scheme for Low-Cost INS Aided by GPS for Land Vehicle Applications

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